| 摘要 |
An apparatus for automatically handling a workpiece between automated workstations wherein the workpiece is lifted from an unloading workstation, moved along a predetermined linear reciprocal path between work stations while simultaneously inverting the workpiece, and lowering the workpiece into a loading workstation. The apparatus provides a vertical lift portion and an articulating portion for manipulating the workpiece. The vertical lift portion utilizes a compact design to minimize space requirements and moving parts by providing both vertical movement and rotational movement within a common structure. The articulating portion is attached to the bottom of the vertical lift portion and provides a pivot arm that is pivotally attached to a workpiece holder. The vertical lift portion provides a rotational input to a harmonic drive unit which has its output coupled to the pivot arm. When the pivot arm rotates, a continuous timing belt provides for counter-rotational movement of the workpiece holder. The workpiece is detachably secured by the workpiece holder, and when the pivot arm and the workpiece holder are equivalent in length, the workpiece will travel in a linear path while also inverting the orientation of the workpiece upon completing the linear path. The range of movement of the workpiece may also be extended by mounting the apparatus on an overhead gantry which moves the entire apparatus, along with the workpiece, further along the linear path. A linear drive unit may also by utilized as a workpiece holder to provide an extended reach to the workpiece along the linear path.
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